#include <basicconstraintsandreferences.h>
HeadingConstraint - constrain the deviation from heading of the road during lateral planning
◆ HeadingConstraint()
◆ getDerivative()
virtual int adore::fun::HeadingConstraint::getDerivative |
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inlineoverridevirtual |
Determine for which derivative of given dimension this constraint is responsible.
- Returns
- applicable to which state derivative
Implements adore::fun::ANominalConstraint.
◆ getDimension()
virtual int adore::fun::HeadingConstraint::getDimension |
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inlineoverridevirtual |
Determine for which dimension this constraint is responsible (e.g. longitudinal, lateral, etc.)
- Returns
- applicable to which dimension, depends on setup of planner
Implements adore::fun::ANominalConstraint.
◆ getDirection()
◆ getValue()
virtual double adore::fun::HeadingConstraint::getValue |
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double |
t, |
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double |
s, |
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double |
ds |
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inlineoverridevirtual |
return the value of the constraint at a certain time and position
- Parameters
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t | the time |
s | progress along the road-relative coordinate system |
ds | derivative of s |
- Returns
- value of the constraint (e.g. vmax for a speed limit)
Implements adore::fun::ANominalConstraint.
◆ update()
virtual void adore::fun::HeadingConstraint::update |
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double |
t0, |
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double |
s0, |
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double |
ds0 |
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inlineoverridevirtual |
Refresh values of the constraint object. Allows parameters and precomputations to buffered for one planning cycle.
- Parameters
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t0 | start time for planning |
s0 | start progress in road-relative coordinate system |
ds0 | derivative of s at t0 |
Implements adore::fun::ANominalConstraint.
◆ d_
◆ heading_lb_
double adore::fun::HeadingConstraint::heading_lb_ |
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private |
◆ heading_ub_
double adore::fun::HeadingConstraint::heading_ub_ |
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private |
◆ p_
The documentation for this class was generated from the following file: